In the past decades, there has been a growing interest in unmanned aerial vehicles (UAVs) for educational, research, business, and military purposes. The most critical data for a flight system is the telemetry data from the GPS and wireless transmitter and also from the gyroscope and accelerometer. The objective of this paper is to develop a control system for UAV using long-range wireless communication and GPS. First, Matlab simulation was conducted to obtain an optimum PID gains controller. Then LoRa wireless was evaluated during clear and rainy days. Static and dynamic points measurement was conducted to validate and optimize GPS accuracy. GeoMapping in Matlab and Google GPS GeoPlanner were then used to analyze the traveled UAV flight path.
This document is a project report submitted by three students for their Bachelor of Technology degree. It outlines the design and implementation of an unmanned aerial vehicle (UAV) in the form of a quadcopter for campus surveillance. The quadcopter will house a camera and use a wireless transmission system to provide live video feed from the camera to a ground station. Sensors such as an IMU and GPS will be used to help stabilize and navigate the quadcopter. An onboard processor and flight controller using Arduino will control the quadcopter. The project aims to develop a low-cost and lightweight surveillance drone.
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
Drone (Unmanned aerial vehicle) is an electronic device which is remote controlled based aircraft used to achieve vertical flight with stability using KK2.1.5 board and it can be used for live streaming and also for capturing images using camera and as technology advances increase the performance and reduces the cost of microcontroller so that general public can design their own drone . The main aim of this project is for live streaming and collecting images. This drone includes a frame, flight control board, motors, electronic speed controllers, a transmitter, a receiver, a Lipo battery and a camera interfaced with the kit. Individual components were tested and verified. The tuning and calibration of the PID controller were done to obtain stabilization on each axis. Currently, the drone can properly stabilize itself. The aim of the project has been achieved, resulting in stable and capturing images.
This document describes a cell phone operated land rover project. A mobile phone is used as a remote control transmitter by dialing another mobile phone attached to the land rover. The pressed buttons on the transmitter phone generate DTMF tones that are received and decoded by a DTMF receiver chip on the rover. The decoded tones are sent to a microcontroller which controls DC motor drivers to move the left and right motors accordingly to move the rover forward, backward, or turn. The mobile phone remote allows controlling the rover from a distance without a traditional radio receiver and transmitter.
This document provides information about the components and working of a quadcopter. It discusses the different types of motors that can be used - brushless or brushed. It explains how the brushless DC motor, electronic speed controller, microcontroller, sensors like accelerometer, gyroscope, GPS work together. It describes how GPS determines position using signals from multiple satellites. The document also covers flight dynamics and how motor rotation enables different motions like take off, landing, forward, backward, left and right. It lists some applications of quadcopters like search and rescue, surveillance, inspections.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
This document is a project report submitted by three students for their Bachelor of Technology degree. It outlines the design and implementation of an unmanned aerial vehicle (UAV) in the form of a quadcopter for campus surveillance. The quadcopter will house a camera and use a wireless transmission system to provide live video feed from the camera to a ground station. Sensors such as an IMU and GPS will be used to help stabilize and navigate the quadcopter. An onboard processor and flight controller using Arduino will control the quadcopter. The project aims to develop a low-cost and lightweight surveillance drone.
We will introduce a development of a mini-quad rotor system for indoor application at Keokuk University. The propulsion system consists of X-UFO blade propellers and brushless direct current (DC) motors assembled on a very stiff ai rframe made of carbon fiber composite material. The attitude control system consists of a stab ility augmentation system as the inner loop control and a modern control approach as the outer lo op. The closed-loop contro l is a PID controller,which is used for the flight test to valid ate our aerodynamic mode ling. To perform an experimental flight test,basic electronics hardware will de velop in a simple configuration. We will use an AVR microcontroller as the embe dded controller,a low-cost 100 Hz AHRS for inertial sensing,infrared (IR) sensors for horizontal ranging,and an ultrasonic sensor for ground ranging. A high performance propeller system is built on an X-UFO quad rotor airframe. The developing flying robot is shown to have an automatic hovering ability with aid of a ground control system that uses mon itoring and a fail-safe system. We will introduce a new quad rotor platform for realizing autonomous navigation in unknown indoor/outdoor environments. Au tonomous waypoint navigation,obs tacle avoidance and flight control is implemented on-board. The system does not require a special environment,artificial markers or an external reference system. We will develop a monolithic,mechanically damped perception unit which is equipped with a stereo camera pair,an Inertial Measurement Unit (IMU),two processor and an FPGA board.
Drone (Unmanned aerial vehicle) is an electronic device which is remote controlled based aircraft used to achieve vertical flight with stability using KK2.1.5 board and it can be used for live streaming and also for capturing images using camera and as technology advances increase the performance and reduces the cost of microcontroller so that general public can design their own drone . The main aim of this project is for live streaming and collecting images. This drone includes a frame, flight control board, motors, electronic speed controllers, a transmitter, a receiver, a Lipo battery and a camera interfaced with the kit. Individual components were tested and verified. The tuning and calibration of the PID controller were done to obtain stabilization on each axis. Currently, the drone can properly stabilize itself. The aim of the project has been achieved, resulting in stable and capturing images.
This document describes a cell phone operated land rover project. A mobile phone is used as a remote control transmitter by dialing another mobile phone attached to the land rover. The pressed buttons on the transmitter phone generate DTMF tones that are received and decoded by a DTMF receiver chip on the rover. The decoded tones are sent to a microcontroller which controls DC motor drivers to move the left and right motors accordingly to move the rover forward, backward, or turn. The mobile phone remote allows controlling the rover from a distance without a traditional radio receiver and transmitter.
This document provides information about the components and working of a quadcopter. It discusses the different types of motors that can be used - brushless or brushed. It explains how the brushless DC motor, electronic speed controller, microcontroller, sensors like accelerometer, gyroscope, GPS work together. It describes how GPS determines position using signals from multiple satellites. The document also covers flight dynamics and how motor rotation enables different motions like take off, landing, forward, backward, left and right. It lists some applications of quadcopters like search and rescue, surveillance, inspections.
1. The document presents a simulation software developed to evaluate the control system for an autonomous unmanned helicopter.
2. The simulation models the helicopter dynamics, sensors, and an extended Kalman filter. It accounts for forces like gravity, rotors, wind, and allows tuning the helicopter servos.
3. The goal is to design the guidance system without risking damage to real equipment by testing in simulation first.
This document provides an overview of a quadcopter project. It introduces the project supervisor and describes the structure, design, control theory, and sensors of a quadcopter. It explains that quadcopters use four motors and propellers for lift and are controlled electronically rather than with complex mechanical systems like helicopters. It also discusses the PID control algorithm used to stabilize the quadcopter based on sensor feedback and error calculations. Sensor fusion is described as important for combining gyroscope and accelerometer readings to reduce noise and drift in the orientation estimates.
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
This document discusses speed control of 3-phase induction motors under fault conditions when supplied by a wind turbine using indirect vector control. It proposes a modified controller that can control a star-connected 3-phase induction motor under normal operation, stator winding open-circuit fault, and speed sensor fault conditions. Simulation results demonstrate that the proposed method provides good dynamic performance, especially in reducing motor speed and torque pulsations under fault conditions.
Design and control of ems magnetic levitation train using fuzzy mras and pid ...Mustefa Jibril
1) The document describes a study on using fuzzy logic, PID, and MRAS controllers to improve passenger comfort and handling of a magnetic levitation train system.
2) A MATLAB Simulink model is used to simulate and compare the performance of the three controllers. The MRAS controller has the shortest settling time while the PID controller has the lowest percentage overshoot.
3) Tables and figures show the output responses, stability analysis, and change in air gap over time for the different controller designs. The study demonstrates the effectiveness of using fuzzy logic control for the magnetic levitation train system.
This document provides information about a quadcopter drone project completed by four students. It includes a certificate of completion, table of contents, and chapters covering the quadcopter materials and design. The main components discussed are the frame, KK2.1.5 circuit board, DC brushless motors, electronic speed controls, Li-Po battery, remote control, and receiver. The document provides details on the purpose and functioning of these various components that make up the quadcopter.
This file contains the matter of fabrication of drones, you can use it to create a drone. This is very useful file for those who are interested in quadcopters or drones. This is written and created by me. You can use as your projetct.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
The document describes a project to control the speed of a DC motor using pulse-width modulation (PWM) technique. A team of students created a system with an LPC2148 microcontroller to generate PWM signals to drive a DC motor. The duty cycle of the PWM signals can be altered to control the motor speed. The system includes a power supply, motor driver, LCD display, and other components in a block diagram. Keil and Flash Magic software were used to program the microcontroller. Adjusting the duty cycle allows minimizing power consumption and varying the motor speed.
This document provides details on the design and development of an autonomous quadcopter. It begins with an introduction to quadcopters and their potential uses. The document then outlines the goals of the project, which are to build, modify and improve an existing quadcopter kit to enable stable flight, GPS data gathering/storage, and auto-landing. Several chapters then describe the individual components, circuit connections, setup of the onboard flight controller, calibration processes, and flight testing procedures. Figures and diagrams are provided to illustrate key aspects. The conclusion discusses the future potential for drone technology.
Real time tracking based on gsm and ir module for running traineSAT Journals
This document describes a system for real-time tracking of trains using GSM and IR modules to send status updates via SMS to passengers. The system uses an IR transmitter on the train to broadcast its location, which is received by IR sensors along the track. The received signals are sent to a main system that uses a GSM module to send SMS updates about the train's status and location to passengers who have reservations. The system aims to reduce passenger wait times and inconvenience by providing automatic updates without needing internet or calling information lines. It uses inexpensive, widely available components like GSM modules, IR sensors, and microcontrollers.
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
The document discusses the development of an Anti-Collision Device (ACD) by Konkan Railways to prevent train collisions in India. The ACD uses a microprocessor and GPS technology to track train locations and automatically apply brakes if trains get too close. It consists of onboard units installed on locomotives and guard vans, as well as trackside units at stations and level crossings. The ACD communicates via digital radio and its microprocessor uses an Intel chipset to execute the collision prevention system. It was created to address several deadly train collisions between 1999-2003.
RC Quadcopters, or multirotors, were on just about everyone's Christmas list. If Santa's present has left you wanting for more (or you just want to tinker!), but you don't know where to start, this course is for you. We'll cover the basics to get you started: tools you'll need, pre-planning, components and how they all go together. I will also show a sample build that features a 3DR Pixhawk flight controller, running open-source firmware ArduPilot (http://dev.ardupilot.com/) and Mission Planner (https://github.com/diydrones/MissionPlanner)
This document summarizes a research paper on a monitoring system for detecting defects in rail tracks. The proposed system uses seismic sensors and triaxial MEMS sensors connected to a microcontroller to continuously monitor rail tracks for vibrations that indicate cracks. If a crack is detected, an alert is sent via Zigbee wireless communication to concerned authorities. The system aims to reduce train accidents by identifying cracks early. It provides a low-cost and effective alternative to manual inspection of rail tracks.
IRJET- Smart Accident Detection and Emergency Notification System using IoT a...IRJET Journal
This document describes a smart accident detection and emergency notification system using IoT and mobile computing. The system uses MEMS sensors to detect vehicle vibrations during an accident and ultrasonic sensors to calculate distance. It then sends accident location data like coordinates, time, and angle of impact to emergency contacts via GSM module. This is intended to reduce response time and save lives by quickly notifying authorities and loved ones after a crash when emergency services are lacking. The system architecture incorporates sensors, microcontroller, GPS, GSM and modules for user registration, location updating, and accident notification.
A Flexible Closed Loop PMDC Motor Speed Control System for Precise PositioningWaqas Tariq
The speed control of DC motor is very significant especially in applications where precision is of great importance. Due to its ease of controllability the DC motor is used in many industrial applications requiring variable speed and load characteristics. So the precise speed control of a DC motor is very crucial in industry. In this case microcontrollers play a vital role for the flexible control of DC motors. This current research work investigates the implementation of an ATmega8L microcontroller for the speed control of DC motor fed by a DC chopper. The chopper is driven by a high frequency PWM signal. Controlling the PWM duty cycle is equivalent to controlling the motor terminal voltage, which in turn adjusts directly the motor speed. H-bridge circuit is implemented for the bi-directional control of the motor. A prototype of permanent magnet DC motor speed control system using the microcontroller is developed and tested.
Indirect power control of DFIG based on wind turbine operating in MPPT using ...IJECEIAES
This paper describes a MPPT control of the stator powers of a DFIG operating within a wind energy system using the backstepping control technique. The objective of this work consists of providing a robust control to the rotor-side converter allowing the stator active power to be regulated at the maximum power extracted from the wind turbine, as well as maintaining the stator reactive power at zero to maintain the power factor at unity, under various conditions. We have used the Matlab/Simulink platform to model the wind system based on a 7.5 kW DFIG and to implement the MPPT control algorithm in a first step, then we have implemented the field-oriented control and the backstepping controller in a second step. The simulation results obtained were very satisfactory with a fast transient response and neglected power ripples. They furthermore confirmed the high robustness of the approach used in dealing with the variation of the internal parameters of the machine.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
Abstract: An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Keywords- Autonomous control, Characteristics, Linux, Master / Slave Aerial Vehicles, NX 8.0 Nastran, Surveillance.
This document provides an overview of a quadcopter project. It introduces the project supervisor and describes the structure, design, control theory, and sensors of a quadcopter. It explains that quadcopters use four motors and propellers for lift and are controlled electronically rather than with complex mechanical systems like helicopters. It also discusses the PID control algorithm used to stabilize the quadcopter based on sensor feedback and error calculations. Sensor fusion is described as important for combining gyroscope and accelerometer readings to reduce noise and drift in the orientation estimates.
Speed Tracking of Field Oriented Control Permanent Magnet Synchronous Motor U...IJPEDS-IAES
The field oriented control theory and space vector pulse width modulation technique make a permanent magnet synchronous motor can achieve the performance as well as a DC motor. However, due to the nonlinearity of the permanent magnet synchronous motor drive characteristics, it is difficult to control by using conventional proportional-integral-derivative controller. By this reason in this paper an online neural network controller for the permanent magnet synchronous motor is proposed. The controller is designed to tracks variations of speed references and also during load disturbance. The effectiveness of the proposed method is verified by develop simulation model in MATLAB-simulink program. The simulation results show that the proposed controller can reduce the overshoot, settling time and rise time. It can be concluded that the performance of the controller is improved.
This document discusses speed control of 3-phase induction motors under fault conditions when supplied by a wind turbine using indirect vector control. It proposes a modified controller that can control a star-connected 3-phase induction motor under normal operation, stator winding open-circuit fault, and speed sensor fault conditions. Simulation results demonstrate that the proposed method provides good dynamic performance, especially in reducing motor speed and torque pulsations under fault conditions.
Design and control of ems magnetic levitation train using fuzzy mras and pid ...Mustefa Jibril
1) The document describes a study on using fuzzy logic, PID, and MRAS controllers to improve passenger comfort and handling of a magnetic levitation train system.
2) A MATLAB Simulink model is used to simulate and compare the performance of the three controllers. The MRAS controller has the shortest settling time while the PID controller has the lowest percentage overshoot.
3) Tables and figures show the output responses, stability analysis, and change in air gap over time for the different controller designs. The study demonstrates the effectiveness of using fuzzy logic control for the magnetic levitation train system.
This document provides information about a quadcopter drone project completed by four students. It includes a certificate of completion, table of contents, and chapters covering the quadcopter materials and design. The main components discussed are the frame, KK2.1.5 circuit board, DC brushless motors, electronic speed controls, Li-Po battery, remote control, and receiver. The document provides details on the purpose and functioning of these various components that make up the quadcopter.
This file contains the matter of fabrication of drones, you can use it to create a drone. This is very useful file for those who are interested in quadcopters or drones. This is written and created by me. You can use as your projetct.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately and efficiently perform tasks that would be of high risk for a human pilot to perform. This paper encompasses the dynamic models of a quadrotor and the different model-dependent and model-independent control techniques and their comparison. Recently, focus has shifted to designing autonomous quadrotors. A summary of the various localization and navigation techniques has been given. Lastly, the paper investigates the potential applications of quadrotors and their role in multi-agent systems.
The document describes a project to control the speed of a DC motor using pulse-width modulation (PWM) technique. A team of students created a system with an LPC2148 microcontroller to generate PWM signals to drive a DC motor. The duty cycle of the PWM signals can be altered to control the motor speed. The system includes a power supply, motor driver, LCD display, and other components in a block diagram. Keil and Flash Magic software were used to program the microcontroller. Adjusting the duty cycle allows minimizing power consumption and varying the motor speed.
This document provides details on the design and development of an autonomous quadcopter. It begins with an introduction to quadcopters and their potential uses. The document then outlines the goals of the project, which are to build, modify and improve an existing quadcopter kit to enable stable flight, GPS data gathering/storage, and auto-landing. Several chapters then describe the individual components, circuit connections, setup of the onboard flight controller, calibration processes, and flight testing procedures. Figures and diagrams are provided to illustrate key aspects. The conclusion discusses the future potential for drone technology.
Real time tracking based on gsm and ir module for running traineSAT Journals
This document describes a system for real-time tracking of trains using GSM and IR modules to send status updates via SMS to passengers. The system uses an IR transmitter on the train to broadcast its location, which is received by IR sensors along the track. The received signals are sent to a main system that uses a GSM module to send SMS updates about the train's status and location to passengers who have reservations. The system aims to reduce passenger wait times and inconvenience by providing automatic updates without needing internet or calling information lines. It uses inexpensive, widely available components like GSM modules, IR sensors, and microcontrollers.
1) The document presents a prototype for an air ambulance drone to assist traditional ambulances in saving lives faster by reaching emergencies earlier and monitoring multiple health parameters of patients.
2) The hexacopter drone design is described, which uses 6 motors and propellers for stability and thrust to carry a first aid kit and measure patient temperature, heart rate, and heartbeat to provide doctors vital signs information.
3) The construction of the hexacopter drone is explained, including its frame, motors, batteries, flight controller and other components to enable it to fly and carry medical supplies to emergencies more quickly than road-bound ambulances.
Nowadays, A lot of industry requires Multi Motor System (MMS) applications such as propulsion and traction power, HEV, conveyer and air-conditioner. The Conventional arrangement for MMS usually done by cascading the motors drives which each drives has individual inverter. Part of MMS, Dual-Motor drives fed by a single inverter is being paid attention by the researchers. Dual-motor drives using a single three-leg inverter has its limitation in the case of different operating conditions and independent speed control requirement. Therefore, dual-Motor drives using a single Five-leg Inverter (FLI) was proposed for independent control for both motors. In PMSM drives, the information of the feedback speed and rotor angular position is compulsory for variable speed drives. Conventional solution is by using speed sensor which will increase size, cost, extra hardwire and feedback devices, especially for the case of dual-PMSM drives. The best solution to overcome this problem is by eliminating the usage of speed and position sensors for Dual-motor drives. This paper presents a new sensorless strategy using speed and position estimator for Independent Dual- Permanent Magnet Synchronous Machine (PMSM) drives which utilize Five-Leg Inverter (FLI). The proposed strategy is simulated using MATLAB/Simulink to evaluate the overall motor drive performance. Meanwhile the experimental set-up is connected to dSPACE 1103 Board. The experimental results demonstrate that the proposed estimator is successfully managed to control the Dual-PMSM drives for variation of speed and for different direction applications.
International Journal of Engineering Research and Applications (IJERA) is a team of researchers not publication services or private publications running the journals for monetary benefits, we are association of scientists and academia who focus only on supporting authors who want to publish their work. The articles published in our journal can be accessed online, all the articles will be archived for real time access.
Our journal system primarily aims to bring out the research talent and the works done by sciaentists, academia, engineers, practitioners, scholars, post graduate students of engineering and science. This journal aims to cover the scientific research in a broader sense and not publishing a niche area of research facilitating researchers from various verticals to publish their papers. It is also aimed to provide a platform for the researchers to publish in a shorter of time, enabling them to continue further All articles published are freely available to scientific researchers in the Government agencies,educators and the general public. We are taking serious efforts to promote our journal across the globe in various ways, we are sure that our journal will act as a scientific platform for all researchers to publish their works online.
The document discusses the development of an Anti-Collision Device (ACD) by Konkan Railways to prevent train collisions in India. The ACD uses a microprocessor and GPS technology to track train locations and automatically apply brakes if trains get too close. It consists of onboard units installed on locomotives and guard vans, as well as trackside units at stations and level crossings. The ACD communicates via digital radio and its microprocessor uses an Intel chipset to execute the collision prevention system. It was created to address several deadly train collisions between 1999-2003.
RC Quadcopters, or multirotors, were on just about everyone's Christmas list. If Santa's present has left you wanting for more (or you just want to tinker!), but you don't know where to start, this course is for you. We'll cover the basics to get you started: tools you'll need, pre-planning, components and how they all go together. I will also show a sample build that features a 3DR Pixhawk flight controller, running open-source firmware ArduPilot (http://dev.ardupilot.com/) and Mission Planner (https://github.com/diydrones/MissionPlanner)
This document summarizes a research paper on a monitoring system for detecting defects in rail tracks. The proposed system uses seismic sensors and triaxial MEMS sensors connected to a microcontroller to continuously monitor rail tracks for vibrations that indicate cracks. If a crack is detected, an alert is sent via Zigbee wireless communication to concerned authorities. The system aims to reduce train accidents by identifying cracks early. It provides a low-cost and effective alternative to manual inspection of rail tracks.
IRJET- Smart Accident Detection and Emergency Notification System using IoT a...IRJET Journal
This document describes a smart accident detection and emergency notification system using IoT and mobile computing. The system uses MEMS sensors to detect vehicle vibrations during an accident and ultrasonic sensors to calculate distance. It then sends accident location data like coordinates, time, and angle of impact to emergency contacts via GSM module. This is intended to reduce response time and save lives by quickly notifying authorities and loved ones after a crash when emergency services are lacking. The system architecture incorporates sensors, microcontroller, GPS, GSM and modules for user registration, location updating, and accident notification.
A Flexible Closed Loop PMDC Motor Speed Control System for Precise PositioningWaqas Tariq
The speed control of DC motor is very significant especially in applications where precision is of great importance. Due to its ease of controllability the DC motor is used in many industrial applications requiring variable speed and load characteristics. So the precise speed control of a DC motor is very crucial in industry. In this case microcontrollers play a vital role for the flexible control of DC motors. This current research work investigates the implementation of an ATmega8L microcontroller for the speed control of DC motor fed by a DC chopper. The chopper is driven by a high frequency PWM signal. Controlling the PWM duty cycle is equivalent to controlling the motor terminal voltage, which in turn adjusts directly the motor speed. H-bridge circuit is implemented for the bi-directional control of the motor. A prototype of permanent magnet DC motor speed control system using the microcontroller is developed and tested.
Indirect power control of DFIG based on wind turbine operating in MPPT using ...IJECEIAES
This paper describes a MPPT control of the stator powers of a DFIG operating within a wind energy system using the backstepping control technique. The objective of this work consists of providing a robust control to the rotor-side converter allowing the stator active power to be regulated at the maximum power extracted from the wind turbine, as well as maintaining the stator reactive power at zero to maintain the power factor at unity, under various conditions. We have used the Matlab/Simulink platform to model the wind system based on a 7.5 kW DFIG and to implement the MPPT control algorithm in a first step, then we have implemented the field-oriented control and the backstepping controller in a second step. The simulation results obtained were very satisfactory with a fast transient response and neglected power ripples. They furthermore confirmed the high robustness of the approach used in dealing with the variation of the internal parameters of the machine.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Design and Structural Analysis for an Autonomous UAV System Consisting of Sla...IOSR Journals
Abstract: An Unmanned Aerial Vehicle (UAV) is an aircraft without a human pilot. It can either be controlled manually by a pilot on the ground using a trans-receiver or it can be programmed to operate autonomously. In this proposed control system, multiple slave Micro Aerial Vehicles(MAV) are dispatched from a master UAV for surveillance. All the MAVs are synchronized with each other through the master UAV which highlights their purpose and position. The master UAV acts as a mobile base for the surveillance, it stores the data collected by the MAVs and transmits them to a remote base. A design of the UAV-MAV system and its performance analysis is presented.
Keywords- Autonomous control, Characteristics, Linux, Master / Slave Aerial Vehicles, NX 8.0 Nastran, Surveillance.
Drone’s node placement algorithm with routing protocols to enhance surveillanceIJECEIAES
Flying ad-hoc network (FANET) is characterized by key component features such as communication scheme, energy awareness, and task distribution. In this research, a surveillance space considering standard petroleum pipe was created with three drones viz: drone 1 (D1), master drone (DM), and drone 2 (D2) to survey as FANET. DM aggregate packets from D1, D2 and communicate with the static ground control station (SGCS). The starting point of the three drones and their trajectories during deployment were calculated and simulated. Selection of DM, D1, and D2 was done using battery level before take-off. Simulation results show take-off time difference which depends on the distance of each drone to the SGCS during deployment. D1 take-off first, while DM and D2 followed after 0.0704 and 0.1314 ms respectively. The position-oriented routing protocols results indicated variation of information flow within time notch due to variation in the density of the transmitted packets. Packets delivery periods are 0.00136×103 sec, 0.00110×103 sec, and 0.00246×103 sec for time notch 1, 2, and aggregating time notch respectively. From the results obtained, two algorithms were used successfully in deploying the drones
This document describes a data acquisition system and wireless telemetry system for unmanned aerial vehicles participating in the Advanced class of the SAE Aero Design competition. The system uses a laser altimeter and GPS module to measure altitude and location, which are sent via an Arduino microcontroller and XBee modules to a base station laptop. The laptop displays the measurements and has a button to trigger cargo release based on the vehicle's position and trajectory calculations. The system was designed to meet the competition's requirements of long range, low power, accurate measurements, and small size for recording altitude and assisting precise cargo deployment from UAVs.
Waypoint Flight Parameter Comparison of an Autonomous Uavijaia
The present paper compares the effect of different waypoint parameters on the flight performance of a
special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical
sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for
reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters
on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the
acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus
influence the performance of the presented autonomous quadrocopter under real indoor navigation
circumstances. Furthermore the paper demonstrates a drawback of the standard potential field method for
navigation of such autonomous quadrocopters and points to an improvement
This document discusses the design and components of a surveillance drone. It describes how a drone uses four propellers and motors to generate lift. A drone is controlled remotely using a transmitter that sends signals to a receiver on the drone. The receiver is connected to a flight controller board that processes the signals and controls electronic speed controllers connected to each motor. This allows the drone to be maneuvered for surveillance applications such as monitoring traffic or areas that are dangerous for humans to access. The document provides details on common components of drones like motors, propellers, batteries, and controllers. It also discusses how the physics of thrust from counter-rotating propellers allows for controlled vertical and horizontal movement.
Quadcopter (uavs) for border security with gui systemeSAT Journals
Abstract The authors are designing the Quad-copter (UAVs) for Border Security with GUI System. Now-a-days the security issues of borders are daily increasing. Terrorist activities, firing, etc. at border are increasing day by day. Monitoring is becoming more difficult due to weather conditions, difficult areas which are out of reach etc and risk of losing life of soldier is also increasing. Designing an unmanned air vehicle which will monitor the border area, difficult location, movie shooting etc from long distance can be a good option. GPS is used to track the position of intruder or our troops or vehicles. This GPS data will be received by ARM9 processor and conveyed to observer or controller via zigbee. The Quad-copter is controlled by observer via the IR remote. Observer will fly the Quad-copter from a distance to area which has to be monitored. The Audio-Visual will be transmitted to PC via Wireless camera mounted on assembly. Also recording will be done. Keywords: Quadcopter, GPS, Zigbee, Wireless camera, IR remote, Battery, ARM9 processor, GUI
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Remotely Operated Vehicle (ROV) for underwater exploration is typically controlled using umbilical cable connected to ground control station. Unfortunately, while it’s used for power distribution and data transmission, it also obstruct the movement of ROV especially for shallow water (<50 cm). This paper proposed an alternative method for controlling ROV using wireless remote control system. This work also aims to explore the possibility of using RF wireless technology between 420-450 MHz as underwater communication system. Furthermore, the control system was used to manage actuators i.e. DC motor and bilge pump for maneuvring and picking small size cargo. To help the ROV to hold on a desired, Inertial Measurement Unit (IMU) is installed on board ROV within maximum deviation 0.2 m/s2. The prototype of the system has been successfully implemented and evaluated to confirm the functionality and the feasibility of the proposed approach.
Smart missile navigation in defence system using rc4 algorithm to detect targeteSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
IRJET- Radiosonde Payload for Weather BalloonsIRJET Journal
This document describes a radiosonde payload designed to measure weather conditions from weather balloons. The payload contains sensors to measure temperature, humidity, air pressure and GPS coordinates. It transmits the sensor data via radio frequency to a ground station. The data is stored on an SD card and can be displayed on an LCD screen. The payload is designed to be lightweight and powered by batteries to be carried by weather balloons to different altitudes in the atmosphere. It aims to provide up-to-date weather monitoring and analysis to forecasters. The document discusses the components, circuit design and testing of the radiosonde payload.
Low-cost quadrotor hardware design with PID control system as flight controllerTELKOMNIKA JOURNAL
In designing an Unmanned Aerial Vehicle (UAV), such as quadrotor, sometimes an engineer should consider the required cost that is relatively expensive. As we know, quadrotor is one of robots that very usefull and has several advantages for human needs such as disaster area monitoring, air quality monitoring, area mapping, aerial photography, and surveillance. Thus, designing a rapid quadrotor with low-cost components and simple control system needs to be considered here. This paper presents design and implementation of a quadrotor using relatively low-cost components with Proportional Integral Derivative (PID) control system as its controller. The components used consist of microcontroller, Inertial Measurement Unit (IMU) sensor, Brushless Direct Current (BLDC) motor, Electronic Speed Control (ESC), remote control unit, battery, and frame. These components can be easily found in the electronic markets, especially in Indonesia. As an addition, this paper also describes PID control system as flight controller. A simple economic analysis is presented to clarify the cost in designing this quadrotor. Based on experimental testing result, the quadrotor able to fly stably with PID controller although there still overshoot at the attitude responses.
Secrecy performance analysis on spatial modeling of wireless communications w...IJECEIAES
In this paper, the secrecy performance of the spatial modeling for ground devices with randomly placed eavesdroppers when an unmanned aerial vehicle (UAV) acted as two hops decode and forward (DF) was investigated. We characterize the secrecy outage probability (SOP) and intercept probability (IP) expressions. Our capacity performance analysis is based on the Rayleigh fading distributions. After analytical results by Monte Carlo simulation, and the Gauss-Chebyshev parameter was selected to yield a close approximation, the results demonstrate the SOP with the average signal-to-noise ratio (SNR) between UAV and ground users among the eavesdroppers and the IP relationship with the ability to intercept the information of the ground users successfully.
Advanced Anti Accidental Solution by Pre Analyzing, Tracking and Detection of...IRJET Journal
This document describes a system to track ships and prevent accidents using sensors and GPS. The system uses sensors to monitor temperature, vibrations, and fires on ships. It also uses a GPS module to track the location of the ship. The sensor data and location information are sent via GSM to a base station. This allows monitoring of ship conditions and location in real-time to identify problems and take preventative measures against accidents. The system is intended to help reduce ship accidents by enabling remote tracking of issues like cold temperatures, vibrations, fires, and precise ship positioning.
A Review on Longitudinal Control Law Design for a Small Fixed-Wing UAVIRJET Journal
This document reviews various techniques for designing longitudinal control laws for small fixed-wing unmanned aerial vehicles (UAVs). It discusses techniques such as integral sliding mode control, linear quadratic regulator (LQR), Apriltags recognition algorithm with PID control, observer Kalman identification with PID control, root locus method, nonlinear model simulation, and multi-model techniques. These techniques have been applied to problems such as longitudinal guidance, stability augmentation, autonomous landing, and modeling fixed-wing UAV dynamics. The document analyzes the effectiveness and robustness of different proposed control schemes through simulations and comparisons of various techniques.
Smart aerosonde UAV longitudinal flight control system based on genetic algor...journalBEEI
Synthesis of a flight control system for such an aircraft that achieves stable and acceptable performance across a specified flying envelope in the presence of uncertainties represents an attractive and challenging design problem. This study uses the genetic self-tuning PID algorithm to develop an intelligent flight control system for the aerosonde UAV model. To improve the system's transient responses, the gains of the PID controller are improved using a genetic algorithm (GA). Simulink/MATLAB software is used to model and simulate the proposed system. The proposed PID controller integrated with the GA is compared with the classical one. Three simulation scenarios are carried out. In the first scenario, and at normal conditions, the proposed controller performance is better than the classical one. While in the second scenario, identical results are achieved from both controllers. Finally, in the third scenario, the PID controller with GA shows the robustness and durability of the system compared with the classical PID in presence of external wind disturbance. The simulation results prove the system parameters optimization.
Remote Monitoring and Control of Boat Using Lora TechnologyIJAEMSJORNAL
This work is a prototype boat that can travel in water. This robot is powered by rechargeable battery. The direction of the robot can be precise by an RF remote. This can be moved forward and reverse direction by using geared motors, also this robot can take sharp turnings towards left and right directions. In this work the LPC2148, DC Servomotors, RF Technology; L293D H-Bridge is used to drive the DC Servomotor. A high sensitive camera is also interfaced to capture the surrounding things and also to transmit to the remote place. The RF modules used here are STT-868 MHz Transmitter, STR-868 MHz Receiver. The three switches are connected to the RF transmitter through RF Encoder. The encoder constantly recites the position of the switches and permits the data to the RF transmitter and the transmitter transmits the data for further process.
The document describes a project report submitted by Stuti Vyas, Drashti Sheth, and Jay Vala for their Bachelor of Engineering degree. It outlines the development of a quadcopter surveillance system, including the components used, methods for designing and assembling the frame and circuits, and testing procedures. The quadcopter is intended to be remotely operated and carry a wireless camera for surveillance applications.
Crane monitoring system based on internet of things using long range IJECEIAES
The four main causes of crane accidents are overturned, falls, mechanical failure, and contact with power lines. It is important to keep track of the crane’s health and condition as it is always too late when a failure of the crane was found. Any abrupt accidents will interrupt or delay the work progress and cause the operational costs to increase. Crane monitoring system is developed using long range (LoRa) technology due to its long range of detections making it suitable for monitoring machines that require large space including the dock area. It also consumes low power and is suitable for battery-operated systems. This paper discusses the design and development crane monitoring system using Arduino Uno together with NodeMCU ESP8266 as the hardware for this project. Temperature, power consumption, lifting activities, and total operating hours will be measured using appropriate sensors. The data will then be sent to the database where users can monitor each crane from a developed Android application using a mobile phone. This project allows users to view, monitor, and analyze real-time or past data in a graph or table view. Experimental results prove the proposed system is applicable and effective.
The document describes a PRS NANO UAV system designed to gather intelligence and monitor enemy activities to minimize military and civilian casualties. The UAV is shaped like a dragonfly for covert surveillance. It uses an ESP 32 WIFI camera and is controlled through an RF transmitter and receiver while images are viewed on a mobile phone. The BLDC motor and propellers enable takeoff, flight, and landing while the microcontroller processes sensor data and controls flight. The UAV aims to safely provide military intelligence through undetectable surveillance.
Similar to Development of control system for quadrotor unmanned aerial vehicle using LoRa wireless and GPS tracking (20)
Amazon products reviews classification based on machine learning, deep learni...TELKOMNIKA JOURNAL
In recent times, the trend of online shopping through e-commerce stores and websites has grown to a huge extent. Whenever a product is purchased on an e-commerce platform, people leave their reviews about the product. These reviews are very helpful for the store owners and the product’s manufacturers for the betterment of their work process as well as product quality. An automated system is proposed in this work that operates on two datasets D1 and D2 obtained from Amazon. After certain preprocessing steps, N-gram and word embedding-based features are extracted using term frequency-inverse document frequency (TF-IDF), bag of words (BoW) and global vectors (GloVe), and Word2vec, respectively. Four machine learning (ML) models support vector machines (SVM), logistic regression (RF), logistic regression (LR), multinomial Naïve Bayes (MNB), two deep learning (DL) models convolutional neural network (CNN), long-short term memory (LSTM), and standalone bidirectional encoder representations (BERT) are used to classify reviews as either positive or negative. The results obtained by the standard ML, DL models and BERT are evaluated using certain performance evaluation measures. BERT turns out to be the best-performing model in the case of D1 with an accuracy of 90% on features derived by word embedding models while the CNN provides the best accuracy of 97% upon word embedding features in the case of D2. The proposed model shows better overall performance on D2 as compared to D1.
Design, simulation, and analysis of microstrip patch antenna for wireless app...TELKOMNIKA JOURNAL
In this study, a microstrip patch antenna that works at 3.6 GHz was built and tested to see how well it works. In this work, Rogers RT/Duroid 5880 has been used as the substrate material, with a dielectric permittivity of 2.2 and a thickness of 0.3451 mm; it serves as the base for the examined antenna. The computer simulation technology (CST) studio suite is utilized to show the recommended antenna design. The goal of this study was to get a more extensive transmission capacity, a lower voltage standing wave ratio (VSWR), and a lower return loss, but the main goal was to get a higher gain, directivity, and efficiency. After simulation, the return loss, gain, directivity, bandwidth, and efficiency of the supplied antenna are found to be -17.626 dB, 9.671 dBi, 9.924 dBi, 0.2 GHz, and 97.45%, respectively. Besides, the recreation uncovered that the transfer speed side-lobe level at phi was much better than those of the earlier works, at -28.8 dB, respectively. Thus, it makes a solid contender for remote innovation and more robust communication.
Design and simulation an optimal enhanced PI controller for congestion avoida...TELKOMNIKA JOURNAL
This document describes using a snake optimization algorithm to tune the gains of an enhanced proportional-integral controller for congestion avoidance in a TCP/AQM system. The controller aims to maintain a stable and desired queue size without noise or transmission problems. A linearized model of the TCP/AQM system is presented. An enhanced PI controller combining nonlinear gain and original PI gains is proposed. The snake optimization algorithm is then used to tune the parameters of the enhanced PI controller to achieve optimal system performance and response. Simulation results are discussed showing the proposed controller provides a stable and robust behavior for congestion control.
Improving the detection of intrusion in vehicular ad-hoc networks with modifi...TELKOMNIKA JOURNAL
Vehicular ad-hoc networks (VANETs) are wireless-equipped vehicles that form networks along the road. The security of this network has been a major challenge. The identity-based cryptosystem (IBC) previously used to secure the networks suffers from membership authentication security features. This paper focuses on improving the detection of intruders in VANETs with a modified identity-based cryptosystem (MIBC). The MIBC is developed using a non-singular elliptic curve with Lagrange interpolation. The public key of vehicles and roadside units on the network are derived from number plates and location identification numbers, respectively. Pseudo-identities are used to mask the real identity of users to preserve their privacy. The membership authentication mechanism ensures that only valid and authenticated members of the network are allowed to join the network. The performance of the MIBC is evaluated using intrusion detection ratio (IDR) and computation time (CT) and then validated with the existing IBC. The result obtained shows that the MIBC recorded an IDR of 99.3% against 94.3% obtained for the existing identity-based cryptosystem (EIBC) for 140 unregistered vehicles attempting to intrude on the network. The MIBC shows lower CT values of 1.17 ms against 1.70 ms for EIBC. The MIBC can be used to improve the security of VANETs.
Conceptual model of internet banking adoption with perceived risk and trust f...TELKOMNIKA JOURNAL
Understanding the primary factors of internet banking (IB) acceptance is critical for both banks and users; nevertheless, our knowledge of the role of users’ perceived risk and trust in IB adoption is limited. As a result, we develop a conceptual model by incorporating perceived risk and trust into the technology acceptance model (TAM) theory toward the IB. The proper research emphasized that the most essential component in explaining IB adoption behavior is behavioral intention to use IB adoption. TAM is helpful for figuring out how elements that affect IB adoption are connected to one another. According to previous literature on IB and the use of such technology in Iraq, one has to choose a theoretical foundation that may justify the acceptance of IB from the customer’s perspective. The conceptual model was therefore constructed using the TAM as a foundation. Furthermore, perceived risk and trust were added to the TAM dimensions as external factors. The key objective of this work was to extend the TAM to construct a conceptual model for IB adoption and to get sufficient theoretical support from the existing literature for the essential elements and their relationships in order to unearth new insights about factors responsible for IB adoption.
Efficient combined fuzzy logic and LMS algorithm for smart antennaTELKOMNIKA JOURNAL
The smart antennas are broadly used in wireless communication. The least mean square (LMS) algorithm is a procedure that is concerned in controlling the smart antenna pattern to accommodate specified requirements such as steering the beam toward the desired signal, in addition to placing the deep nulls in the direction of unwanted signals. The conventional LMS (C-LMS) has some drawbacks like slow convergence speed besides high steady state fluctuation error. To overcome these shortcomings, the present paper adopts an adaptive fuzzy control step size least mean square (FC-LMS) algorithm to adjust its step size. Computer simulation outcomes illustrate that the given model has fast convergence rate as well as low mean square error steady state.
Design and implementation of a LoRa-based system for warning of forest fireTELKOMNIKA JOURNAL
This paper presents the design and implementation of a forest fire monitoring and warning system based on long range (LoRa) technology, a novel ultra-low power consumption and long-range wireless communication technology for remote sensing applications. The proposed system includes a wireless sensor network that records environmental parameters such as temperature, humidity, wind speed, and carbon dioxide (CO2) concentration in the air, as well as taking infrared photos.The data collected at each sensor node will be transmitted to the gateway via LoRa wireless transmission. Data will be collected, processed, and uploaded to a cloud database at the gateway. An Android smartphone application that allows anyone to easily view the recorded data has been developed. When a fire is detected, the system will sound a siren and send a warning message to the responsible personnel, instructing them to take appropriate action. Experiments in Tram Chim Park, Vietnam, have been conducted to verify and evaluate the operation of the system.
Wavelet-based sensing technique in cognitive radio networkTELKOMNIKA JOURNAL
Cognitive radio is a smart radio that can change its transmitter parameter based on interaction with the environment in which it operates. The demand for frequency spectrum is growing due to a big data issue as many Internet of Things (IoT) devices are in the network. Based on previous research, most frequency spectrum was used, but some spectrums were not used, called spectrum hole. Energy detection is one of the spectrum sensing methods that has been frequently used since it is easy to use and does not require license users to have any prior signal understanding. But this technique is incapable of detecting at low signal-to-noise ratio (SNR) levels. Therefore, the wavelet-based sensing is proposed to overcome this issue and detect spectrum holes. The main objective of this work is to evaluate the performance of wavelet-based sensing and compare it with the energy detection technique. The findings show that the percentage of detection in wavelet-based sensing is 83% higher than energy detection performance. This result indicates that the wavelet-based sensing has higher precision in detection and the interference towards primary user can be decreased.
A novel compact dual-band bandstop filter with enhanced rejection bandsTELKOMNIKA JOURNAL
In this paper, we present the design of a new wide dual-band bandstop filter (DBBSF) using nonuniform transmission lines. The method used to design this filter is to replace conventional uniform transmission lines with nonuniform lines governed by a truncated Fourier series. Based on how impedances are profiled in the proposed DBBSF structure, the fractional bandwidths of the two 10 dB-down rejection bands are widened to 39.72% and 52.63%, respectively, and the physical size has been reduced compared to that of the filter with the uniform transmission lines. The results of the electromagnetic (EM) simulation support the obtained analytical response and show an improved frequency behavior.
Deep learning approach to DDoS attack with imbalanced data at the application...TELKOMNIKA JOURNAL
A distributed denial of service (DDoS) attack is where one or more computers attack or target a server computer, by flooding internet traffic to the server. As a result, the server cannot be accessed by legitimate users. A result of this attack causes enormous losses for a company because it can reduce the level of user trust, and reduce the company’s reputation to lose customers due to downtime. One of the services at the application layer that can be accessed by users is a web-based lightweight directory access protocol (LDAP) service that can provide safe and easy services to access directory applications. We used a deep learning approach to detect DDoS attacks on the CICDDoS 2019 dataset on a complex computer network at the application layer to get fast and accurate results for dealing with unbalanced data. Based on the results obtained, it is observed that DDoS attack detection using a deep learning approach on imbalanced data performs better when implemented using synthetic minority oversampling technique (SMOTE) method for binary classes. On the other hand, the proposed deep learning approach performs better for detecting DDoS attacks in multiclass when implemented using the adaptive synthetic (ADASYN) method.
The appearance of uncertainties and disturbances often effects the characteristics of either linear or nonlinear systems. Plus, the stabilization process may be deteriorated thus incurring a catastrophic effect to the system performance. As such, this manuscript addresses the concept of matching condition for the systems that are suffering from miss-match uncertainties and exogeneous disturbances. The perturbation towards the system at hand is assumed to be known and unbounded. To reach this outcome, uncertainties and their classifications are reviewed thoroughly. The structural matching condition is proposed and tabulated in the proposition 1. Two types of mathematical expressions are presented to distinguish the system with matched uncertainty and the system with miss-matched uncertainty. Lastly, two-dimensional numerical expressions are provided to practice the proposed proposition. The outcome shows that matching condition has the ability to change the system to a design-friendly model for asymptotic stabilization.
Implementation of FinFET technology based low power 4×4 Wallace tree multipli...TELKOMNIKA JOURNAL
Many systems, including digital signal processors, finite impulse response (FIR) filters, application-specific integrated circuits, and microprocessors, use multipliers. The demand for low power multipliers is gradually rising day by day in the current technological trend. In this study, we describe a 4×4 Wallace multiplier based on a carry select adder (CSA) that uses less power and has a better power delay product than existing multipliers. HSPICE tool at 16 nm technology is used to simulate the results. In comparison to the traditional CSA-based multiplier, which has a power consumption of 1.7 µW and power delay product (PDP) of 57.3 fJ, the results demonstrate that the Wallace multiplier design employing CSA with first zero finding logic (FZF) logic has the lowest power consumption of 1.4 µW and PDP of 27.5 fJ.
Evaluation of the weighted-overlap add model with massive MIMO in a 5G systemTELKOMNIKA JOURNAL
The flaw in 5G orthogonal frequency division multiplexing (OFDM) becomes apparent in high-speed situations. Because the doppler effect causes frequency shifts, the orthogonality of OFDM subcarriers is broken, lowering both their bit error rate (BER) and throughput output. As part of this research, we use a novel design that combines massive multiple input multiple output (MIMO) and weighted overlap and add (WOLA) to improve the performance of 5G systems. To determine which design is superior, throughput and BER are calculated for both the proposed design and OFDM. The results of the improved system show a massive improvement in performance ver the conventional system and significant improvements with massive MIMO, including the best throughput and BER. When compared to conventional systems, the improved system has a throughput that is around 22% higher and the best performance in terms of BER, but it still has around 25% less error than OFDM.
Reflector antenna design in different frequencies using frequency selective s...TELKOMNIKA JOURNAL
In this study, it is aimed to obtain two different asymmetric radiation patterns obtained from antennas in the shape of the cross-section of a parabolic reflector (fan blade type antennas) and antennas with cosecant-square radiation characteristics at two different frequencies from a single antenna. For this purpose, firstly, a fan blade type antenna design will be made, and then the reflective surface of this antenna will be completed to the shape of the reflective surface of the antenna with the cosecant-square radiation characteristic with the frequency selective surface designed to provide the characteristics suitable for the purpose. The frequency selective surface designed and it provides the perfect transmission as possible at 4 GHz operating frequency, while it will act as a band-quenching filter for electromagnetic waves at 5 GHz operating frequency and will be a reflective surface. Thanks to this frequency selective surface to be used as a reflective surface in the antenna, a fan blade type radiation characteristic at 4 GHz operating frequency will be obtained, while a cosecant-square radiation characteristic at 5 GHz operating frequency will be obtained.
Reagentless iron detection in water based on unclad fiber optical sensorTELKOMNIKA JOURNAL
A simple and low-cost fiber based optical sensor for iron detection is demonstrated in this paper. The sensor head consist of an unclad optical fiber with the unclad length of 1 cm and it has a straight structure. Results obtained shows a linear relationship between the output light intensity and iron concentration, illustrating the functionality of this iron optical sensor. Based on the experimental results, the sensitivity and linearity are achieved at 0.0328/ppm and 0.9824 respectively at the wavelength of 690 nm. With the same wavelength, other performance parameters are also studied. Resolution and limit of detection (LOD) are found to be 0.3049 ppm and 0.0755 ppm correspondingly. This iron sensor is advantageous in that it does not require any reagent for detection, enabling it to be simpler and cost-effective in the implementation of the iron sensing.
Impact of CuS counter electrode calcination temperature on quantum dot sensit...TELKOMNIKA JOURNAL
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
In place of the commercial Pt electrode used in quantum sensitized solar cells, the low-cost CuS cathode is created using electrophoresis. High resolution scanning electron microscopy and X-ray diffraction were used to analyze the structure and morphology of structural cubic samples with diameters ranging from 40 nm to 200 nm. The conversion efficiency of solar cells is significantly impacted by the calcination temperatures of cathodes at 100 °C, 120 °C, 150 °C, and 180 °C under vacuum. The fluorine doped tin oxide (FTO)/CuS cathode electrode reached a maximum efficiency of 3.89% when it was calcined at 120 °C. Compared to other temperature combinations, CuS nanoparticles crystallize at 120 °C, which lowers resistance while increasing electron lifetime.
A progressive learning for structural tolerance online sequential extreme lea...TELKOMNIKA JOURNAL
This article discusses the progressive learning for structural tolerance online sequential extreme learning machine (PSTOS-ELM). PSTOS-ELM can save robust accuracy while updating the new data and the new class data on the online training situation. The robustness accuracy arises from using the householder block exact QR decomposition recursive least squares (HBQRD-RLS) of the PSTOS-ELM. This method is suitable for applications that have data streaming and often have new class data. Our experiment compares the PSTOS-ELM accuracy and accuracy robustness while data is updating with the batch-extreme learning machine (ELM) and structural tolerance online sequential extreme learning machine (STOS-ELM) that both must retrain the data in a new class data case. The experimental results show that PSTOS-ELM has accuracy and robustness comparable to ELM and STOS-ELM while also can update new class data immediately.
Electroencephalography-based brain-computer interface using neural networksTELKOMNIKA JOURNAL
This study aimed to develop a brain-computer interface that can control an electric wheelchair using electroencephalography (EEG) signals. First, we used the Mind Wave Mobile 2 device to capture raw EEG signals from the surface of the scalp. The signals were transformed into the frequency domain using fast Fourier transform (FFT) and filtered to monitor changes in attention and relaxation. Next, we performed time and frequency domain analyses to identify features for five eye gestures: opened, closed, blink per second, double blink, and lookup. The base state was the opened-eyes gesture, and we compared the features of the remaining four action gestures to the base state to identify potential gestures. We then built a multilayer neural network to classify these features into five signals that control the wheelchair’s movement. Finally, we designed an experimental wheelchair system to test the effectiveness of the proposed approach. The results demonstrate that the EEG classification was highly accurate and computationally efficient. Moreover, the average performance of the brain-controlled wheelchair system was over 75% across different individuals, which suggests the feasibility of this approach.
Adaptive segmentation algorithm based on level set model in medical imagingTELKOMNIKA JOURNAL
For image segmentation, level set models are frequently employed. It offer best solution to overcome the main limitations of deformable parametric models. However, the challenge when applying those models in medical images stills deal with removing blurs in image edges which directly affects the edge indicator function, leads to not adaptively segmenting images and causes a wrong analysis of pathologies wich prevents to conclude a correct diagnosis. To overcome such issues, an effective process is suggested by simultaneously modelling and solving systems’ two-dimensional partial differential equations (PDE). The first PDE equation allows restoration using Euler’s equation similar to an anisotropic smoothing based on a regularized Perona and Malik filter that eliminates noise while preserving edge information in accordance with detected contours in the second equation that segments the image based on the first equation solutions. This approach allows developing a new algorithm which overcome the studied model drawbacks. Results of the proposed method give clear segments that can be applied to any application. Experiments on many medical images in particular blurry images with high information losses, demonstrate that the developed approach produces superior segmentation results in terms of quantity and quality compared to other models already presented in previeous works.
Automatic channel selection using shuffled frog leaping algorithm for EEG bas...TELKOMNIKA JOURNAL
Drug addiction is a complex neurobiological disorder that necessitates comprehensive treatment of both the body and mind. It is categorized as a brain disorder due to its impact on the brain. Various methods such as electroencephalography (EEG), functional magnetic resonance imaging (FMRI), and magnetoencephalography (MEG) can capture brain activities and structures. EEG signals provide valuable insights into neurological disorders, including drug addiction. Accurate classification of drug addiction from EEG signals relies on appropriate features and channel selection. Choosing the right EEG channels is essential to reduce computational costs and mitigate the risk of overfitting associated with using all available channels. To address the challenge of optimal channel selection in addiction detection from EEG signals, this work employs the shuffled frog leaping algorithm (SFLA). SFLA facilitates the selection of appropriate channels, leading to improved accuracy. Wavelet features extracted from the selected input channel signals are then analyzed using various machine learning classifiers to detect addiction. Experimental results indicate that after selecting features from the appropriate channels, classification accuracy significantly increased across all classifiers. Particularly, the multi-layer perceptron (MLP) classifier combined with SFLA demonstrated a remarkable accuracy improvement of 15.78% while reducing time complexity.
Supermarket Management System Project Report.pdfKamal Acharya
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Development of control system for quadrotor unmanned aerial vehicle using LoRa wireless and GPS tracking
1. TELKOMNIKA Telecommunication, Computing, Electronics and Control
Vol. 18, No. 5, October 2020, pp. 2674~2681
ISSN: 1693-6930, accredited First Grade by Kemenristekdikti, Decree No: 21/E/KPT/2018
DOI: 10.12928/TELKOMNIKA.v18i5.16716 2674
Journal homepage: http://journal.uad.ac.id/index.php/TELKOMNIKA
Development of control system for quadrotor unmanned aerial
vehicle using LoRa wireless and GPS tracking
Teddy Surya Gunawan1
, Wan Atheerah Yahya2
, Erwin Sulaeman3
, Mira Kartiwi4
, Zuriati Janin5
1,2
Department of Electrical and Computer Engineering, International Islamic University Malaysia, Malaysia
1
Fakultas Teknik dan Ilmu Komputer, Universitas Potensi Utama, Indonesia
3
Department of Mechanical Engineering, International Islamic University Malaysia, Malaysia
4
Departement of Information Systems, International Islamic University Malaysia, Malaysia
5
Faculty of Electrical Engineering, Universiti Teknologi MARA, Malaysia
Article Info ABSTRACT
Article history:
Received Jan 17, 2020
Revised Apr 29, 2020
Accepted May 11, 2020
In the past decades, there has been a growing interest in unmanned aerial
vehicles (UAVs) for educational, research, business, and military purposes.
The most critical data for a flight system is the telemetry data from the GPS
and wireless transmitter and also from the gyroscope and accelerometer.
The objective of this paper is to develop a control system for UAV using
long-range wireless communication and GPS. First, Matlab simulation was
conducted to obtain an optimum PID gains controller. Then LoRa wireless was
evaluated during clear and rainy days. Static and dynamic points measurement
was conducted to validate and optimize GPS accuracy. GeoMapping in Matlab
and Google GPS GeoPlanner were then used to analyze the traveled UAV
flight path.
Keywords:
GPS
LoRa
PID controller
Quadrotor UAV
Telemetry data This is an open access article under the CC BY-SA license.
Corresponding Author:
Teddy Surya Gunawan,
Department of Electrical and Computer Engineering,
International Islamic University Malaysia, Malaysia.
Email: tsgunawan@iium.edu.my
1. INTRODUCTION
In the past few years, the quadrotor unmanned aerial vehicle (UAV) has gained interest due to its
compact size, agility, and autonomous flight [1]. UAV is an aircraft without a pilot on board and can be flown
by a remote controller from a ground control station. UAVs can fly autonomously and also manually by remote
controller. There are many types of UAV across the world, and they have specific task and mission that depends
on the person who built the UAV. A quadrotor system can be used for surveillance [2, 3], rescue [4, 5], aerial
photography [6, 7], precision agriculture [8, 9], and other works that are dangerous or space limited for human
beings [10].
At first, UAV was not autonomously controlled. It was controlled by remote control and by manual
radio, just like a typical aircraft. The control systems of quadrotor UAV has been conducted by many
researchers.In [11, 12], the rigid body dynamics of a quadrotor UAV and several effects of aerodynamics
were investigated. Several controller can be implemented, including the PID controller [12], backstepping
controller [13, 14], sliding-mode controller [15, 16], adaptive control [17], fuzzy logic [18, 19], quantitative
feedback [20], reinforcement learning [21], etc. A review of various control systems' performance can be
found in [22].
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Despite a sophisticated digital avionic system installed on the present aircraft, which defines aircraft
altitude, speed, and continuous position, we still need the UAV in various emergency situations. In this paper,
we introduce the use of long-range (LoRa) wireless module and also the GPS tracking to enable the Quadrotor
UAV to obtain telemetry data, for example, a continuous GPS position. The dynamics and control system of
the quadrotor UAV was modeled and simulated in Matlab. In order to get precise and continuous data telemetry
from the UAV to the ground control station (GCS), we use the long-range (LoRa) wireless communication
system [23].
2. QUADROTOR UNMANNED AERIAL VEHICLE (UAV) MODELLING
The majority of commercial quadrotors are marketed with the aim of doing aerial photography, e.g.,
Aeryon scout, Microdrones md4-1000, Quanser Qball, Parrot AR. Drone 2.0, DJI Phantom 3, AscTec,
Mikrokopter, etc. In addition, there are many communities and university-based open-source projects for
quadrotors development, e.g., STARMAC X4, ANU X4-Flyer, Arduino ATmega based, Mikrokopter based,
STM32 based, etc [24]. The structure of the quadrotor UAVs investigated in this paper is as shown in
Figure 1. There are two key states of the quadrotor UAV, i.e., position (𝑋, 𝑌, 𝑍) and attitude (roll, pitch, yaw).
The position describes the translation between the world frame and body frame. The attitude describes rotation
between the world and body frames. Roll describes how the right and left sides are elevated with respect to
each other (if the left side pushed down, and the right side is pushed up, the UAV will move to the left). Pitch
describes how the front and back are elevated with respect to each other (if the front is moved down, and
the back is up, it will move forward). And yaw describes the rotation of the drone (if the front, back, and both
sides are leveled, it can turn around the yaw axis without shifting position).
The dynamic of quadrotor UAVs can be formulated as described in [12, 17]. The position 𝑝 𝑥, 𝑝 𝑦, 𝑝𝑧
and attitude (roll, pitch, yaw) 𝜑, 𝜃, 𝜓, can be formulated as:
𝑝̈ 𝑥 = (cos 𝜑 sin 𝜃 cos 𝜓 + sin 𝜑 sin 𝜓)
𝜏4
𝑚
+ 𝑑1
𝑝̈ 𝑦 = (cos 𝜑 sin 𝜃 sin 𝜓 − sin 𝜑 cos 𝜓)
𝜏4
𝑚
+ 𝑑2
𝑝̈ 𝑧 = cos 𝜑 cos 𝜑
𝜏4
𝑚
− 𝑔 + 𝑑3
𝜑̈ = 𝜑̇ 𝜓̇ (
𝐽𝑧𝑧 − 𝐽𝑥𝑥
𝐽 𝑦𝑦
) +
𝐽 𝑅
𝐽 𝑦𝑦
𝜑̇ Ω 𝑅 +
𝐿
𝐽 𝑦𝑦
𝜏1 + 𝑑4
𝜃̈ = 𝜃̇ 𝜓̇ (
𝐽 𝑦𝑦 − 𝐽𝑧𝑧
𝐽𝑥𝑥
) −
𝐽 𝑅
𝐽𝑥𝑥
𝜃̇Ω 𝑅 +
𝐿
𝐽𝑥𝑥
𝜏2 + 𝑑5
𝜓̈ = 𝜑̇ 𝜃̇ (
𝐽𝑥𝑥 − 𝐽 𝑦𝑦
𝐽𝑧𝑧
) +
1
𝐽𝑧𝑧
𝜏3 + 𝑑6
(1)
where 𝑚 is the mass of the quadrotor and its payload, 𝐽𝑥𝑥, 𝐽 𝑦𝑦, 𝐽𝑧𝑧 are the moments of inertia of the quadrotor,
𝐿 is he length from the barycentre to the center of each rotor, 𝐽 𝑅 and Ω 𝑅 provide the moments of inertia and
angular velocity of the propeller blades, 𝑑1, ⋯ , 𝑑6 are bounded disturbances. 𝜏1, 𝜏2, 𝜏3 are thrusts in
the direction of roll, pitch, yaw and 𝜏4 is the collective thrust. The relationships between the thrust
[𝜏1, 𝜏2, 𝜏3, 𝜏4] 𝑇
and control signals [𝑢1, 𝑢2, 𝑢3, 𝑢4] 𝑇
for motors are shown as:
𝜏1 = 𝑐 𝑇(𝑢2 − 𝑢4)
𝜏2 = 𝑐 𝑇(𝑢1 − 𝑢3)
𝜏3 = 𝑐 𝑀(𝑢1 − 𝑢2 + 𝑢3 − 𝑢4)
𝜏4 = 𝑐 𝑇(𝑢1 + 𝑢2 + 𝑢3 + 𝑢4)
(2)
where [𝑢1, 𝑢2, 𝑢3, 𝑢4] 𝑇
are control signals that range from 0 to 1, 𝐶 𝑇 and 𝐶 𝑀 are the parameters which translate
control signals to thrusts and torque. The proportional integral derivative (PID) controller can be used due to
its relatively simple structure, which can be easily understood and implemented in practice.
𝑢(𝑡) = 𝐾𝑃 𝑒(𝑡) + 𝐾𝐼 ∫ 𝑒(𝜆)𝑑𝜆 + 𝐾 𝐷
𝑑𝑒(𝑡)
𝑑𝑡
𝑡
0
(3)
where 𝑢(𝑡) is the input signal, 𝑒(𝑡) = 𝑢(𝑡) − 𝜏(𝑡) is the error signal, 𝐾𝑃, 𝐾𝐼, 𝐾 𝐷 are the proportional, integral,
and derivative controller gains, respectively.
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Figure 1. The structure of quadrotor UAVs adopted from [21]
3. DESIGN OF CONTROL SYSTEM FOR QUADROTOR UAV
For the UAV design, the original UAV weight is estimated to be 550 grams with the battery. The weight
of the additional battery, LoRa wireless, GPS modules, and Arduino Mega microcontroller are counted as
the payload, which is estimated to be around 250 grams. Total weight is estimated to be around 800 grams. For
the design of a wireless module, there are several characteristics required, such as low data rate, longer range, and
very low power consumption. The high data rate is not required due to the nature of the commands being sent or the
data being received. In our research, we just transmit and receive GPS locations from the UAV to the ground station.
If image or video was required to be transmitted, then a higher data rate will be necessary. For long-range control
and data transmission, wireless communication should have long-range with relatively high fidelity. Moreover,
power consumption needs to be minimal to conserve limited battery power at UAV.
In this research, the long-range wireless module is used to obtain a continuous reading from the GPS sensor,
and the communication range should be between 5 to 10 km. The wireless module should be capable of self-standing
in terms of communication infrastructure and power supply since standard communication systems could have
collapsed during unpredictable events and emergencies. For this purpose, the wireless module used in this research
is Semtech Lora 868 MHz 915 MHz SX1272 Libelium radio frequency module [25], as shown in Figure 2 (a).
It has a dual-frequency band, i.e., 863-870 MHz (Europe) and 902-928 MHz (US). The transmission power is
14 dBm. The sensitivity is -134 dBm. Moreover, the communication distance can cover more than 22 km.
The SX1272 module uses the SPI protocol (Serial peripheral Interface) pins for communication.
The SPI port allows faster communication and frees up the Waspmote’s UART (Universal Asynchronous
Receiver/Transmitter) for other purposes. The SX1272 module does not implement any security method. Encryption
is provided through the Waspmote Encryption library. Specifically, through the AES algorithm with the symmetric
key, with a length of 128, 192, or 256 bits. Programming the microcontroller is a simple three steps process: write
the code, compile the code, and upload the code into the microcontroller.
The GPS module selected in this research is Ublox Neo-6M, as shown in Figure 2 (b). It produces outputs
of the current position and timing data in the format of NMEA 0183 and has a positioning accuracy of 10 meters
without and 5 meters with WAAS (Wide Area Augmentation System). It provides augmentation information to GPS
receivers to enhance the accuracy and reliability of position estimates and also expand the GPS, with the goal of
improving its accuracy, integrity, and availability. GPS U-Blox Neo 6M modules give different approaches for
geo-tagging and stitching images based on GNSS (global navigation systems).
The power supply required for this GPS module is 3.6 V suitable for Arduino. The DC current through any
digital I/O pin is around ten mA. The antenna gain is 50 dB, and the UART timing has a maximum bandwidth of
100 kbit/s. Many researchers have used this GPS U-Blox because of its usability and data accuracy. Currently, there
are 32 GPS satellites orbiting the Earth, in which ten satellites was enough to provide high accuracy data, while four
satellite will be the minimum. GPS satellite send course acquisition (C/A) code to GPS receiver on earth station and
give the accurate positioning to the user on Earth. The GPS user on Earth can even get the distance from one point
to another point according to GPS tracking.
For the payload at the UAV, Arduino Mega will be used and connected to GPS and LoRA wireless
modules [26, 27]. Multiprotocol radio shield, as shown in Figure 2 (c), is used to connect Arduino Mega and the
Wireless Libelium LoRa module. For the ground station, Arduino Uno and LoRa receiver are used and connected
to the computer to obtain the transmitted data from UAV. The specification of the UAV is a quadcopter with six
axes of movement, as shown in Figure 3. The controller is a 2.4 GHz transmitter. The length and width of the
quadcopter are 500 mm with a height of 190 mm. LiPo battery has a capacity of 7.4 V/2200 mA and power of
16.3 W. The payload for the UAV is including the GPS receiver, LoRa wireless module, and an HD camera for First
person view (FPV). However, to minimize battery usage for a longer flight, the HD camera captured the images and
saved it in the SD card, rather than real-time transmitting it to the ground station.
This UAV is controlled by a microcontroller such as Arduino and other sensors. Both of them have great
importance for increasing the efficiency of the UAV and can increase the performance of the aircraft system.
The payload prototype is made from plastic material for the cover of the body. A hierarchical control system is
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designed where a high-level controller is responsible for GPS location and positioning and also controlling
long-range radio frequency modules.
The platform of the controller has a total of 4 actuators that are responsible for orienting and translating
the craft according to the outputs of the controller. The actuator lines are made up of the electronic speed controller
(ESC), the motors, and the propellers. The ESC obtains power from the 7.4 V main battery and an input signal in
the form of a pulse-width-modulation (PWM) command from the Arduino mega. The ESC then translates these
PWM commands into the appropriate rotating magnetic field used to control the speed of the motors.
(a) (b) (c)
Figure 2. Hardware design for control system of quadrotor UAV;
(a) LoRa SX1272, (b) GPS Ublox Neo-6m, (c) arduino multiprotocol shield
(a) (b)
Figure 3. Front and top view of the quadcopter; (a) front view and (b) top view
4. EXPERIMENTAL RESULTS AND DISCUSSION
This section describes the quadrotor Matlab simulation, experimental setup, and experiments on
the LoRa wireless communication and GPS accuracy. Matlab simulation confirmed that the PID controller
provided a good control system performance. Moreover, the next experiments evaluated the GPS accuracy of
the pre-determined UAV flight path using GPS GeoPlanner.
4.1. Matlab simulation
Matlab simulation of the aerodynamic design was used for prototyping and flight control system design of
a quadrotor UAV model. Additionally, the GeoMapping Matlab toolbox is utilized for a comprehensive GPS
calculation and validation. With the time calculation utilities, we can compute Julian dates, decimal year, and leap
year. Aerospace toolbox provides three options for visualizing flight data. First, the interface to flight gear flight
simulator lets us visualize vehicle dynamics in a sophisticated 3-D simulation framework. The flight simulator can
playback flight-test data through flight gear and effectively reconstruct behavioral anomalies in the flight-test results.
Matlab Aerospace Toolbox includes functions for controlling the position and altitude of a vehicle in the flight-gear
simulator by using double-precision values of longitude, latitude, altitude, roll, pitch, and yaw. Second, the interface
to simulink 3D animation lets us use the flight data to control vehicle position and attitude in a virtual-reality scene.
The dynamics of the quadrotor are taken from [28] with some slight modification, e.g., the weight of UAV is set to
0.8kg, the length of the quadrotor is set to 0.27 m, etc. Figure 4 shows the Simulink model, while Figure 5 shows
the simulation results, in which the designed PID controller has achieved a good performance. It simulates UAV to
move up from the ground until a pre-defined hight (modify 𝑧). After that, the desired 𝑥 and 𝑦 are set to become
increasing sinusoidal from 0 to 90 seconds and kept constant afterward. The simulation results show the desired
position in 3D versus the actual position, forming an up and spiral movement of the UAV.
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Figure 4. Simulink model of the quadrotor UAV
(a) (b)
Figure 5. Quadrotor UAV simulation results; (a) desired and actual position X, Y, Z and
(b) desired and actual position in 3D
4.2. Experimental setup
The experimental setup is shown in Figure 6. We have divided the experiments into static and dynamic
points measurements. For static points measurement, the ground control station is placed at one static location,
and the GPS coordinates of that location are measured using the GPS Ublox NEO, in which we obtained
Point A. We then moved the GPS receiver to another location, and the GPS coordinates at that location were
transmitted using LoRa to the ground station and recorded to obtain Point B. The distance between point A and
point B then can be calculated.
For dynamic points measurement, the ground station GPS location has been recorded earlier (from
static measurement). The LoRa transmitter is attached to the quadrotor UAV. The UAV is then flown to any
locations, and its positions were transmitted to the ground station and recorded. For analysis purposes,
the recorded GPS locations were then plotted using the GeoMapping tool in Matlab, in which we can further
analyze the dynamic flight path.
4.3. Experiment on LoRa
Figure 7 shows an example of LoRa wireless receiver output at the Ground Station during a clear day
and rainy day. The SNR value and packet length during the rainy day were found to be (-31, 129), (-31, 129),
(-31, 127), and (3, 255), in four consecutive readings. It showed that during rain, the wireless signal is
attenuated, and the SNR fluctuates to -31 dB as it experiences disturbances and noises. From this experiment,
the LoRa module was found to be working as expected.
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Figure 6. Experimental setup between ground station and quadrotor UAV
(a)
(b)
Figure 7. LoRa receiver output during a clear and rainy day; (a) clear day and (b) rainy day
4.4. Experiment on GPS accuracy and GeoMapping using Matlab and Geoplanner
As described in the previous section, the dynamic measurement was used to evaluate GPS accuracy.
Point A is located at the Petanque area of Female Sport Complex, IIUM, while Point B is located at Female
Sport Complex Gym, IIUM. This experiment was repeated eight times, and the result is shown in Table 1.
In conclusion, the GPS receiver module is working as intended. Figures 8 and 9 showed the GeoMapping result
using Matlab and GPS Planner, respectively. The distance traveled during the dynamic GPS measurement is
around 10.23 km. In our experiment, the quadrotor UAV was controlled using manual remote control.
The GPS coordinates are then recorded and transmitted to the ground station using LoRa. For the autonomous
flight, we could create a flight plan based on locations in which the UAV could fly on its own following
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the flight path. This can be used later on, along with the image or video recording, for various purposes, such
as geospatial mapping, precision agriculture, disaster area mapping, etc.
Table 1. Latitude, longitude, and distance between two points
Delta
(latitude)
longitude
(B-A)
Mean
latitude
Point A Point B Lat2 Long2 Distance (m)
Altitude
Difference
-0.0007 -0.0008 3.25365 63.3 148.2 4.9E-07 0.999993225 117.6 84.9
-0.0007 -0.00048 3.25365 63.3 165.7 4.9E-07 0.999994813 117.61 102.4
-0.0007 101.6716 3.25365 0 165.7 4.9E-07 0.999994813 117.61 165.7
-0.00062 101.6715 3.25369 0 171.1 3.84E-07 0.999995931 117.61 171.1
-0.0015 -0.00078 3.25413 72.1 171.1 2.25E-06 0.999976174 187 99
-0.00152 -0.00078 3.25414 72.2 171.1 2.31E-06 0.999975534 188 98.9
-0.00176 -0.00077 3.25434 99.2 204 3.1E-06 0.999967195 212 104.8
-0.00186 -0.00083 3.25429 99.2 172.1 3.46E-06 0.999963349 134 72.9
Average: 148.93 112.46
Figure 8. Sample of GPS route that was traveled in real flight experiment using GeoMapping
Figure 9. Sample of GPS route that was traveled in real flight experiment using GPS GeoPlanner
5. CONCLUSIONS
This paper has presented the design of the control system of quadrotor UAV using LoRa wireless
communication and GPS modules. Matlab simulation was conducted to obtain an optimum PID gains controller.
Next, the suitability of the LoRa wireless module to be used for telemetry data was evaluated during a clear and rainy
day. The GPS telemetry data was validated and optimized using static and dynamic points measurements. Lastly,
GeoMapping in Matlab and Google GPS GeoPlanner were used to analyze the real flight path. Future works include
improved simulation of the quadrotor UAV using the available open-source drone, the use of various sensors and
images for telemetry data, and autonomous flight using a pre-determined flight plan.
8. TELKOMNIKA Telecommun Comput El Control
Development of control system for quadrotor unmanned aerial vehicle using… (Teddy Surya Gunawan)
2681
ACKNOWLEDGMENTS
The author would like to express their gratitude to the Malaysian Ministry of Education (MOE), which
has provided research funding through the Fundamental Research Grant, FRGS19-076-0684. The authors
would also like to thank International Islamic University Malaysia (IIUM), Universitas Potensi Utama, and
Universiti Teknologi MARA (UiTM) Shah Alam for providing facilities to support the research work.
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